cmake_minimum_required(VERSION 3.5)
project(ModernRoboticsCpp)

if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" OR
        "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
set(warnings "-Wall -Wextra -Werror")
elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
 set(warnings "/W4 /WX /EHsc")
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
set(CMAKE_CXX_STANDARD 11)



find_package (Eigen3 REQUIRED)
INCLUDE_DIRECTORIES ( "${EIGEN3_INCLUDE_DIR}" )

if (APPLE)
    # default library path
    message(STATUS "Checking Eigen availability...")
    if (NOT EXISTS ${EIGEN3_INCLUDE_DIR})
        message(WARNING "Unable to find EIGEN3_INCLUDE_DIR...")
        message(STATUS "Installing Eigen...")
        # now we need to download the Eigen library
        execute_process(COMMAND brew install eigen)
    endif()
endif()


if (WIN32)
  SET( EIGEN3_INCLUDE_DIR "$ENV{EIGEN3_INCLUDE_DIR}" )
  INCLUDE_DIRECTORIES ( "${EIGEN3_INCLUDE_DIR}" )
  message(STATUS "${EIGEN3_INCLUDE_DIR}")
endif()

# Finding Eigen is somewhat complicated because of our need to support Ubuntu
# all the way back to saucy.  First we look for the Eigen3 cmake module
# provided by the libeigen3-dev on newer Ubuntu.  If that fails, then we
# fall-back to the version provided by cmake_modules, which is a stand-in.
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
endif()

# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
if(NOT EIGEN3_INCLUDE_DIRS)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()

include_directories(include
                    ${EIGEN3_INCLUDE_DIRS})


add_library(qy_kinematics SHARED src/modern_robotics.cpp include/modern_robotics.h include/kinematics.h src/kinematics.cpp src/kinematics.cpp src/transform_algorithm.cpp)
add_executable(ik_test src/solver_left.cpp)
add_executable(ik_left_hand src/ikleft.cpp)
target_link_libraries(ik_test qy_kinematics)

install (TARGETS qy_kinematics ik_test
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION bin)
